diff --git a/Cargo.toml b/Cargo.toml
index 9fd514b..265d502 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -26,6 +26,7 @@ with-serde = ["serde"]
 [dependencies]
 can-dbc-pest = { version = "0.6.0" }
 encoding_rs = { version = "0.8", optional = true }
+num = { version = "0.4.3", default-features = false }
 serde = { version = "1.0", features = ["derive"], optional = true }
 thiserror = "2.0.17"
 
diff --git a/src/extend/mod.rs b/src/extend/mod.rs
new file mode 100644
index 0000000..c15db8b
--- /dev/null
+++ b/src/extend/mod.rs
@@ -0,0 +1,35 @@
+mod signal;
+
+/// DBC value
+#[derive(Debug, Clone)]
+pub struct Value {
+    pub name: String,
+    pub raw: u64,
+    pub offset: f64,
+    pub factor: f64,
+    pub unit: String,
+}
+
+// TODO: decide if these are really needed
+//       if added, the entire crate cannot use unsafe_code = "forbid" in Cargo.toml
+// unsafe impl Send for Value {}
+// unsafe impl Sync for Value {}
+
+impl Value {
+    /// Get the value of the signal
+    #[inline]
+    pub fn value<T>(&self) -> T
+    where
+        T: num::NumCast + Default,
+    {
+        T::from(self.raw as f64 * self.factor + self.offset).unwrap_or_default()
+    }
+    /// Get the value and unit of the signal as a string
+    #[inline]
+    pub fn value_string<T>(&self) -> String
+    where
+        T: num::NumCast + Default + std::fmt::Display,
+    {
+        format!("{} {}", self.value::<T>(), self.unit)
+    }
+}
diff --git a/src/extend/signal.rs b/src/extend/signal.rs
new file mode 100644
index 0000000..fbc088c
--- /dev/null
+++ b/src/extend/signal.rs
@@ -0,0 +1,156 @@
+use super::Value;
+use crate::{ByteOrder, Signal, ValueType};
+
+impl Signal {
+    /// Decodes/Extracts a signal from the message data as a [`Value`]
+    ///
+    /// # Params
+    ///
+    ///   * data: source data
+    ///
+    /// # Return
+    ///
+    ///   [`Value`] if the size of signal is not zero
+    pub fn decode_value(&self, data: &[u8]) -> Option<Value> {
+        self.decode(data).map(|v| Value {
+            name: self.name.clone(),
+            raw: v,
+            offset: self.offset,
+            factor: self.factor,
+            unit: self.unit.clone(),
+        })
+    }
+
+    /// Decodes/Extracts a signal from the message data
+    ///
+    /// # Params
+    ///
+    ///   * data: source data
+    ///
+    /// # Return
+    ///
+    ///   Raw signal value if the size of signal is not zero
+    pub fn decode(&self, data: &[u8]) -> Option<u64> {
+        if self.size == 0 {
+            return None;
+        }
+
+        let len = data.len();
+        let mut result = 0;
+        match self.byte_order {
+            ByteOrder::LittleEndian => {
+                let mut src_bit = self.start_bit as usize;
+                let mut dst_bit = 0;
+                for _ in 0..self.size {
+                    /* copy bit */
+                    let index = src_bit / 8;
+                    if index >= len {
+                        return None;
+                    }
+                    if (data[index] & (1 << (src_bit % 8))) > 0 {
+                        result |= 1 << dst_bit;
+                    }
+
+                    /* calculate next position */
+                    src_bit += 1;
+                    dst_bit += 1;
+                }
+            }
+            ByteOrder::BigEndian => {
+                let mut src_bit = self.start_bit as usize;
+                let mut dst_bit = self.size - 1;
+                for _ in 0..self.size {
+                    /* copy bit */
+                    let index = src_bit / 8;
+                    if index >= len {
+                        return None;
+                    }
+                    if (data[index] & (1 << (src_bit % 8))) > 0 {
+                        result |= 1 << dst_bit;
+                    }
+
+                    /* calculate next position */
+                    if (src_bit % 8) == 0 {
+                        src_bit += 15;
+                    } else {
+                        src_bit -= 1;
+                    }
+                    dst_bit -= 1;
+                }
+            }
+        }
+
+        match self.value_type {
+            ValueType::Signed => {
+                if (result & (1 << (self.size - 1))) > 0 {
+                    for i in self.size..64 {
+                        result |= 1 << i;
+                    }
+                }
+            }
+            ValueType::Unsigned => {}
+        }
+
+        Some(result)
+    }
+
+    /// Encodes a signal into the message data
+    ///
+    /// # Params
+    ///
+    ///   * data: source data
+    ///
+    ///   * value: Raw signal value
+    pub fn encode(&self, data: &mut Vec<u8>, value: u64) {
+        if self.size == 0 {
+            return;
+        }
+
+        match self.byte_order {
+            ByteOrder::LittleEndian => {
+                let mut src_bit = self.start_bit as usize;
+                let mut dst_bit = 0;
+                for _ in 0..self.size {
+                    /* copy bit */
+                    let index = src_bit / 8;
+                    if index >= data.len() {
+                        data.resize(index + 1, 0);
+                    }
+                    if (value & 1 << dst_bit) > 0 {
+                        data[index] |= 1 << (src_bit % 8);
+                    } else {
+                        data[index] &= !(1 << (src_bit % 8));
+                    }
+
+                    /* calculate next position */
+                    src_bit += 1;
+                    dst_bit += 1;
+                }
+            }
+            ByteOrder::BigEndian => {
+                let mut src_bit = self.start_bit as usize;
+                let mut dst_bit = self.size - 1;
+                for _ in 0..self.size {
+                    /* copy bit */
+                    let index = src_bit / 8;
+                    if index >= data.len() {
+                        data.resize(index + 1, 0);
+                    }
+                    if (value & 1 << dst_bit) > 0 {
+                        data[index] |= 1 << (dst_bit % 8);
+                    } else {
+                        data[index] &= !(1 << (src_bit % 8));
+                    }
+
+                    /* calculate next position */
+                    if (src_bit % 8) == 0 {
+                        src_bit += 15;
+                    } else {
+                        src_bit -= 1;
+                    }
+                    dst_bit -= 1;
+                }
+            }
+        }
+    }
+}
diff --git a/src/lib.rs b/src/lib.rs
index 702130f..e1e3ab5 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,7 +1,9 @@
 #![doc = include_str!("../README.md")]
 
 mod ast;
+mod extend;
 mod parser;
+
 #[cfg(test)]
 mod parser_tests;
 
@@ -10,6 +12,7 @@ pub use ast::*;
 // Re-export of `encoding_rs` as encodings to simplify usage
 #[cfg(feature = "encodings")]
 pub use encoding_rs as encodings;
+pub use extend::*;
 #[cfg(feature = "encodings")]
 pub use parser::decode_cp1252;
 pub use parser::{DbcError, DbcResult};